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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::OrganizedMultiPlaneSegmentation&lt; PointT, PointNT, PointLT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html" title="OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...">OrganizedMultiPlaneSegmentation</a> finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. Only planes with more than min_inliers points are detected. Templated on point type, normal type, and label type  
 <a href="classpcl_1_1_organized_multi_plane_segmentation.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="organized__multi__plane__segmentation_8h_source.html">organized_multi_plane_segmentation.h</a>&gt;</code></p>
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类 pcl::OrganizedMultiPlaneSegmentation&lt; PointT, PointNT, PointLT &gt; 继承关系图:</div>
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<area href="classpcl_1_1_p_c_l_base.html" title="PCL base class. Implements methods that are used by most PCL algorithms." alt="pcl::PCLBase&lt; PointT &gt;" shape="rect" coords="0,0,391,24"/>
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Public 类型</h2></td></tr>
<tr class="memitem:ac7198a5dffe1a47ca7adcd789a9ee890"><td class="memItemLeft" align="right" valign="top"><a id="ac7198a5dffe1a47ca7adcd789a9ee890"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointNT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudN</b></td></tr>
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typedef PointCloudN::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNPtr</b></td></tr>
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typedef PointCloudN::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudNConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointLT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudL</b></td></tr>
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typedef PointCloudL::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLPtr</b></td></tr>
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typedef PointCloudL::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PlaneComparator</b></td></tr>
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typedef PlaneComparator::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PlaneComparatorPtr</b></td></tr>
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typedef PlaneComparator::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PlaneComparatorConstPtr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1_plane_refinement_comparator.html">pcl::PlaneRefinementComparator</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PlaneRefinementComparator</b></td></tr>
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typedef PlaneRefinementComparator::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PlaneRefinementComparatorPtr</b></td></tr>
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typedef PlaneRefinementComparator::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PlaneRefinementComparatorConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:ae2f6f6863a73337858b7a7a054eaae4f inherit pub_types_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ae2f6f6863a73337858b7a7a054eaae4f"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloud</b></td></tr>
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typedef PointCloud::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudPtr</b></td></tr>
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typedef PointCloud::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudConstPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesPtr</b></td></tr>
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typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> const  &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointIndicesConstPtr</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad9eb838314e29dcfd2abc0030979dc1c">OrganizedMultiPlaneSegmentation</a> ()</td></tr>
<tr class="memdesc:ad9eb838314e29dcfd2abc0030979dc1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html" title="OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...">OrganizedMultiPlaneSegmentation</a>. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#adf252d38fd4a3e1e1791258ca4bb682a">~OrganizedMultiPlaneSegmentation</a> ()</td></tr>
<tr class="memdesc:adf252d38fd4a3e1e1791258ca4bb682a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html" title="OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...">OrganizedMultiPlaneSegmentation</a>. <br /></td></tr>
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<tr class="memitem:a11088c6cd55b053e4786fb62224132e2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a11088c6cd55b053e4786fb62224132e2">setInputNormals</a> (const PointCloudNConstPtr &amp;normals)</td></tr>
<tr class="memdesc:a11088c6cd55b053e4786fb62224132e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input normals.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a11088c6cd55b053e4786fb62224132e2">更多...</a><br /></td></tr>
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PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac501ed2684e3b11588170e16169b8066">getInputNormals</a> () const</td></tr>
<tr class="memdesc:ac501ed2684e3b11588170e16169b8066"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the input normals. <br /></td></tr>
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<tr class="memitem:a986c4ce768c192888e91a39ffde8b4bc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a986c4ce768c192888e91a39ffde8b4bc">setMinInliers</a> (unsigned min_inliers)</td></tr>
<tr class="memdesc:a986c4ce768c192888e91a39ffde8b4bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the minimum number of inliers required for a plane  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a986c4ce768c192888e91a39ffde8b4bc">更多...</a><br /></td></tr>
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unsigned&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a21006175bc8d000de1377ff961284e16">getMinInliers</a> () const</td></tr>
<tr class="memdesc:a21006175bc8d000de1377ff961284e16"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the minimum number of inliers required per plane. <br /></td></tr>
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<tr class="memitem:ad68c9c11a4bad2e82e6ca405753984d6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad68c9c11a4bad2e82e6ca405753984d6">setAngularThreshold</a> (double angular_threshold)</td></tr>
<tr class="memdesc:ad68c9c11a4bad2e82e6ca405753984d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#ad68c9c11a4bad2e82e6ca405753984d6">更多...</a><br /></td></tr>
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<tr class="memitem:ad7e90a382f262ab7b0710a7ce9ec889d"><td class="memItemLeft" align="right" valign="top"><a id="ad7e90a382f262ab7b0710a7ce9ec889d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad7e90a382f262ab7b0710a7ce9ec889d">getAngularThreshold</a> () const</td></tr>
<tr class="memdesc:ad7e90a382f262ab7b0710a7ce9ec889d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the angular threshold in radians for difference in normal direction between neighboring points, to be considered part of the same plane. <br /></td></tr>
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<tr class="memitem:a24d7215b238456d587914d7aeabcc812"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a24d7215b238456d587914d7aeabcc812">setDistanceThreshold</a> (double distance_threshold)</td></tr>
<tr class="memdesc:a24d7215b238456d587914d7aeabcc812"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a24d7215b238456d587914d7aeabcc812">更多...</a><br /></td></tr>
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<tr class="memitem:a148757c572b68ad8c4aa50b3a355160f"><td class="memItemLeft" align="right" valign="top"><a id="a148757c572b68ad8c4aa50b3a355160f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a148757c572b68ad8c4aa50b3a355160f">getDistanceThreshold</a> () const</td></tr>
<tr class="memdesc:a148757c572b68ad8c4aa50b3a355160f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the distance threshold in meters (d component of plane equation) between neighboring points, to be considered part of the same plane. <br /></td></tr>
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<tr class="memitem:acf9ab62adc5c4fd94c8c891bf771012a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#acf9ab62adc5c4fd94c8c891bf771012a">setMaximumCurvature</a> (double maximum_curvature)</td></tr>
<tr class="memdesc:acf9ab62adc5c4fd94c8c891bf771012a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum curvature allowed for a planar region.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#acf9ab62adc5c4fd94c8c891bf771012a">更多...</a><br /></td></tr>
<tr class="separator:acf9ab62adc5c4fd94c8c891bf771012a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa52ff8d8e7a69a9f41660cf57e6b9e83"><td class="memItemLeft" align="right" valign="top"><a id="aa52ff8d8e7a69a9f41660cf57e6b9e83"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa52ff8d8e7a69a9f41660cf57e6b9e83">getMaximumCurvature</a> () const</td></tr>
<tr class="memdesc:aa52ff8d8e7a69a9f41660cf57e6b9e83"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum curvature allowed for a planar region. <br /></td></tr>
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<tr class="memitem:a6d49fd9f33accc4abcde89c8bd4dacc0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6d49fd9f33accc4abcde89c8bd4dacc0">setComparator</a> (const PlaneComparatorPtr &amp;compare)</td></tr>
<tr class="memdesc:a6d49fd9f33accc4abcde89c8bd4dacc0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the comparator to be used for segmentation.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a6d49fd9f33accc4abcde89c8bd4dacc0">更多...</a><br /></td></tr>
<tr class="separator:a6d49fd9f33accc4abcde89c8bd4dacc0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1759b16bd00368670f67f836366a8936"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a1759b16bd00368670f67f836366a8936">setRefinementComparator</a> (const PlaneRefinementComparatorPtr &amp;compare)</td></tr>
<tr class="memdesc:a1759b16bd00368670f67f836366a8936"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the comparator to be used for refinement.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a1759b16bd00368670f67f836366a8936">更多...</a><br /></td></tr>
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<tr class="memitem:aa6f56d471ace051ee0eb7fe725eb54aa"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa6f56d471ace051ee0eb7fe725eb54aa">setProjectPoints</a> (bool project_points)</td></tr>
<tr class="memdesc:aa6f56d471ace051ee0eb7fe725eb54aa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether or not to project boundary points to the plane, or leave them in the original 3D space.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#aa6f56d471ace051ee0eb7fe725eb54aa">更多...</a><br /></td></tr>
<tr class="separator:aa6f56d471ace051ee0eb7fe725eb54aa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a16b5328d0e926c89b40443e721cbd84e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;model_coefficients, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;inlier_indices, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;centroids, std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;covariances, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointLT &gt; &amp;labels, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;label_indices)</td></tr>
<tr class="memdesc:a16b5328d0e926c89b40443e721cbd84e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Segmentation of all planes in a point cloud given by <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">setInputCloud()</a>, <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a>  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">更多...</a><br /></td></tr>
<tr class="separator:a16b5328d0e926c89b40443e721cbd84e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4ba3bc1aff18759b631350de5fc55bf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#af4ba3bc1aff18759b631350de5fc55bf">segment</a> (std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;model_coefficients, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;inlier_indices)</td></tr>
<tr class="memdesc:af4ba3bc1aff18759b631350de5fc55bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Segmentation of all planes in a point cloud given by <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">setInputCloud()</a>, <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a>  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#af4ba3bc1aff18759b631350de5fc55bf">更多...</a><br /></td></tr>
<tr class="separator:af4ba3bc1aff18759b631350de5fc55bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a10de34688cdbfdd3ef5bc11ffdd88799"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a10de34688cdbfdd3ef5bc11ffdd88799">segment</a> (std::vector&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt; &amp;regions)</td></tr>
<tr class="memdesc:a10de34688cdbfdd3ef5bc11ffdd88799"><td class="mdescLeft">&#160;</td><td class="mdescRight">Segmentation of all planes in a point cloud given by <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">setInputCloud()</a>, <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a>  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a10de34688cdbfdd3ef5bc11ffdd88799">更多...</a><br /></td></tr>
<tr class="separator:a10de34688cdbfdd3ef5bc11ffdd88799"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a2afe5e8013291f537c85250765c5d5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a2afe5e8013291f537c85250765c5d5">segmentAndRefine</a> (std::vector&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt; &amp;regions)</td></tr>
<tr class="memdesc:a6a2afe5e8013291f537c85250765c5d5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform a segmentation, as well as an additional refinement step. This helps with including points whose normals may not match neighboring points well, but may match the planar model well.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a2afe5e8013291f537c85250765c5d5">更多...</a><br /></td></tr>
<tr class="separator:a6a2afe5e8013291f537c85250765c5d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a227ef62fa024fb8f3eb85a530404a578"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a227ef62fa024fb8f3eb85a530404a578">segmentAndRefine</a> (std::vector&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt; &amp;regions, std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;model_coefficients, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;inlier_indices, PointCloudLPtr &amp;labels, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;label_indices, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;boundary_indices)</td></tr>
<tr class="memdesc:a227ef62fa024fb8f3eb85a530404a578"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform a segmentation, as well as additional refinement step. Returns intermediate data structures for use in subsequent processing.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a227ef62fa024fb8f3eb85a530404a578">更多...</a><br /></td></tr>
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<tr class="memitem:a4be78086232524c475818142a29153e8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">refine</a> (std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;model_coefficients, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;inlier_indices, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;centroids, std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;covariances, PointCloudLPtr &amp;labels, std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;label_indices)</td></tr>
<tr class="memdesc:a4be78086232524c475818142a29153e8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation.  <a href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">更多...</a><br /></td></tr>
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<tr class="inherit_header pub_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="af4fbc5eb005057f8a0fc6d60bde595df"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af4fbc5eb005057f8a0fc6d60bde595df">PCLBase</a> ()</td></tr>
<tr class="memdesc:af4fbc5eb005057f8a0fc6d60bde595df inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a7a6dd7a91275d7737cf1b18005b47244"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a7a6dd7a91275d7737cf1b18005b47244">PCLBase</a> (const <a class="el" href="classpcl_1_1_p_c_l_base.html">PCLBase</a> &amp;base)</td></tr>
<tr class="memdesc:a7a6dd7a91275d7737cf1b18005b47244 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ad5d6846e98e59c37dcc3dc9958d53966"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ad5d6846e98e59c37dcc3dc9958d53966">~PCLBase</a> ()</td></tr>
<tr class="memdesc:ad5d6846e98e59c37dcc3dc9958d53966 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="memitem:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a> (const PointCloudConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1952d7101f3942bac3b69ed55c1ca7ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset  <a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">更多...</a><br /></td></tr>
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<tr class="memitem:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a8cd745c4f7a792212f4fc3720b9d46ea"></a>
PointCloudConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a8cd745c4f7a792212f4fc3720b9d46ea">getInputCloud</a> () const</td></tr>
<tr class="memdesc:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the input point cloud dataset. <br /></td></tr>
<tr class="separator:a8cd745c4f7a792212f4fc3720b9d46ea inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a> (const IndicesPtr &amp;indices)</td></tr>
<tr class="memdesc:ab219359de6eb34c9d51e2e976dd1a0d1 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">更多...</a><br /></td></tr>
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<tr class="memitem:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">setIndices</a> (const IndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:a436c68c74b31e4dd00000adfbb11ca7c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#a436c68c74b31e4dd00000adfbb11ca7c">更多...</a><br /></td></tr>
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<tr class="memitem:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">setIndices</a> (const PointIndicesConstPtr &amp;indices)</td></tr>
<tr class="memdesc:af9cc90d8364ce968566f75800d3773ca inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of indices that represents the input data.  <a href="classpcl_1_1_p_c_l_base.html#af9cc90d8364ce968566f75800d3773ca">更多...</a><br /></td></tr>
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<tr class="memitem:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">setIndices</a> (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)</td></tr>
<tr class="memdesc:a930c7a6375fdf65ff8cfdb4eb4a6d996 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the indices for the points laying within an interest region of the point cloud.  <a href="classpcl_1_1_p_c_l_base.html#a930c7a6375fdf65ff8cfdb4eb4a6d996">更多...</a><br /></td></tr>
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<tr class="memitem:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a058753dd4de73d3d0062fe2e452fba3c"></a>
IndicesPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a058753dd4de73d3d0062fe2e452fba3c">getIndices</a> ()</td></tr>
<tr class="memdesc:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
<tr class="separator:a058753dd4de73d3d0062fe2e452fba3c inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="acae187b37230758959572ceb1e6e2045"></a>
IndicesConstPtr const&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acae187b37230758959572ceb1e6e2045">getIndices</a> () const</td></tr>
<tr class="memdesc:acae187b37230758959572ceb1e6e2045 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of indices used. <br /></td></tr>
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<tr class="memitem:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">operator[]</a> (size_t pos) const</td></tr>
<tr class="memdesc:af7335fedb0af0930b9d1dedcb54ba201 inherit pub_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Override <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> operator[] to shorten code  <a href="classpcl_1_1_p_c_l_base.html#af7335fedb0af0930b9d1dedcb54ba201">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aa1899480dc8c418f9460a2caa54b68dc"><td class="memItemLeft" align="right" valign="top"><a id="aa1899480dc8c418f9460a2caa54b68dc"></a>
virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">getClassName</a> () const</td></tr>
<tr class="memdesc:aa1899480dc8c418f9460a2caa54b68dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Class getName method. <br /></td></tr>
<tr class="separator:aa1899480dc8c418f9460a2caa54b68dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 成员函数 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ()</td></tr>
<tr class="memdesc:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called before starting the actual computation.  <a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">更多...</a><br /></td></tr>
<tr class="separator:acceb20854934f4cf77e266eb5a44d4f0 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="afc426c4eebb94b7734d4fa556bff1420"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ()</td></tr>
<tr class="memdesc:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">This method should get called after finishing the actual computation. <br /></td></tr>
<tr class="separator:afc426c4eebb94b7734d4fa556bff1420 inherit pro_methods_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ad956ae30406e396f07238aeac5fa8bd1"><td class="memItemLeft" align="right" valign="top"><a id="ad956ae30406e396f07238aeac5fa8bd1"></a>
PointCloudNConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a></td></tr>
<tr class="memdesc:ad956ae30406e396f07238aeac5fa8bd1"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the input normals <br /></td></tr>
<tr class="separator:ad956ae30406e396f07238aeac5fa8bd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6a17490643b86da3aea1566b1e1ae8bf"><td class="memItemLeft" align="right" valign="top"><a id="a6a17490643b86da3aea1566b1e1ae8bf"></a>
unsigned&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a></td></tr>
<tr class="memdesc:a6a17490643b86da3aea1566b1e1ae8bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">The minimum number of inliers required for each plane. <br /></td></tr>
<tr class="separator:a6a17490643b86da3aea1566b1e1ae8bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac12f715d79b15d2823b115cb1c2a0a14"><td class="memItemLeft" align="right" valign="top"><a id="ac12f715d79b15d2823b115cb1c2a0a14"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a></td></tr>
<tr class="memdesc:ac12f715d79b15d2823b115cb1c2a0a14"><td class="mdescLeft">&#160;</td><td class="mdescRight">The tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. <br /></td></tr>
<tr class="separator:ac12f715d79b15d2823b115cb1c2a0a14"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a082745b8730e3a50a8306db96eecb4"><td class="memItemLeft" align="right" valign="top"><a id="a3a082745b8730e3a50a8306db96eecb4"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a></td></tr>
<tr class="memdesc:a3a082745b8730e3a50a8306db96eecb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">The tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. <br /></td></tr>
<tr class="separator:a3a082745b8730e3a50a8306db96eecb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84bf457bd25dd8f0e8f0da15a309805d"><td class="memItemLeft" align="right" valign="top"><a id="a84bf457bd25dd8f0e8f0da15a309805d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a></td></tr>
<tr class="memdesc:a84bf457bd25dd8f0e8f0da15a309805d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regions. <br /></td></tr>
<tr class="separator:a84bf457bd25dd8f0e8f0da15a309805d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33b84e36d897a37740afda24c1a500df"><td class="memItemLeft" align="right" valign="top"><a id="a33b84e36d897a37740afda24c1a500df"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a></td></tr>
<tr class="memdesc:a33b84e36d897a37740afda24c1a500df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether or not points should be projected to the plane, or left in the original 3D space. <br /></td></tr>
<tr class="separator:a33b84e36d897a37740afda24c1a500df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3724acaf0d83d69d2ee892a7790ad46e"><td class="memItemLeft" align="right" valign="top"><a id="a3724acaf0d83d69d2ee892a7790ad46e"></a>
PlaneComparatorPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a></td></tr>
<tr class="memdesc:a3724acaf0d83d69d2ee892a7790ad46e"><td class="mdescLeft">&#160;</td><td class="mdescRight">A comparator for comparing neighboring pixels' plane equations. <br /></td></tr>
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<tr class="memitem:adc35ef057f74baf0dea376401931f197"><td class="memItemLeft" align="right" valign="top"><a id="adc35ef057f74baf0dea376401931f197"></a>
PlaneRefinementComparatorPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a></td></tr>
<tr class="memdesc:adc35ef057f74baf0dea376401931f197"><td class="mdescLeft">&#160;</td><td class="mdescRight">A comparator for use on the refinement step. Compares points to regions segmented in the first pass. <br /></td></tr>
<tr class="separator:adc35ef057f74baf0dea376401931f197"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1_p_c_l_base"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1_p_c_l_base')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase&lt; PointT &gt;</a></td></tr>
<tr class="memitem:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="a09c70d8e06e3fb4f07903fe6f8d67869"></a>
PointCloudConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a></td></tr>
<tr class="memdesc:a09c70d8e06e3fb4f07903fe6f8d67869 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input point cloud dataset. <br /></td></tr>
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<tr class="memitem:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="aaee847c8a517ebf365bad2cb182a6626"></a>
IndicesPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#aaee847c8a517ebf365bad2cb182a6626">indices_</a></td></tr>
<tr class="memdesc:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the vector of point indices to use. <br /></td></tr>
<tr class="separator:aaee847c8a517ebf365bad2cb182a6626 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="ada1eadb824d34ca9206a86343d9760bb"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#ada1eadb824d34ca9206a86343d9760bb">use_indices_</a></td></tr>
<tr class="memdesc:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set to true if point indices are used. <br /></td></tr>
<tr class="separator:ada1eadb824d34ca9206a86343d9760bb inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memItemLeft" align="right" valign="top"><a id="adadb0299f144528020ed558af6879662"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_p_c_l_base.html#adadb0299f144528020ed558af6879662">fake_indices_</a></td></tr>
<tr class="memdesc:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="mdescLeft">&#160;</td><td class="mdescRight">If no set of indices are given, we construct a set of fake indices that mimic the input <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a>. <br /></td></tr>
<tr class="separator:adadb0299f144528020ed558af6879662 inherit pro_attribs_classpcl_1_1_p_c_l_base"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointT, typename PointNT, typename PointLT&gt;<br />
class pcl::OrganizedMultiPlaneSegmentation&lt; PointT, PointNT, PointLT &gt;</h3>

<p><a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html" title="OrganizedMultiPlaneSegmentation finds all planes present in the input cloud, and outputs a vector of ...">OrganizedMultiPlaneSegmentation</a> finds all planes present in the input cloud, and outputs a vector of plane equations, as well as a vector of point clouds corresponding to the inliers of each detected plane. Only planes with more than min_inliers points are detected. Templated on point type, normal type, and label type </p>
<dl class="section author"><dt>作者</dt><dd>Alex Trevor, Suat Gedikli </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a4be78086232524c475818142a29153e8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4be78086232524c475818142a29153e8">&#9670;&nbsp;</a></span>refine()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::refine </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>inlier_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroids</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>covariances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PointCloudLPtr &amp;&#160;</td>
          <td class="paramname"><em>labels</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>label_indices</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by the initial segmentation. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">model_coefficients</td><td>The list of segmented model coefficients </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">inlier_indices</td><td>The list of segmented inlier indices, corresponding to each model </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">centroids</td><td>The list of centroids corresponding to each segmented plane </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">covariances</td><td>The list of covariances corresponding to each segemented plane </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">labels</td><td>The labels produced by the initial segmentation </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">label_indices</td><td>The list of indices corresponding to each label </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;{</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="comment">//List of lables to grow, and index of model corresponding to each label</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  std::vector&lt;bool&gt; grow_labels;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  std::vector&lt;int&gt; label_to_model;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  grow_labels.resize (label_indices.size (), <span class="keyword">false</span>);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  label_to_model.resize (label_indices.size (), 0);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; model_coefficients.size (); i++)</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  {</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordtype">int</span> model_label = (*labels)[inlier_indices[i].indices[0]].label;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    label_to_model[model_label] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (i);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    grow_labels[model_label] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="comment">//refinement_compare_-&gt;setDistanceThreshold (0.015f, true);</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;setInputCloud (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>);</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;setLabels (labels);</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;setModelCoefficients (model_coefficients);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;setRefineLabels (grow_labels);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;setLabelToModel (label_to_model);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <span class="comment">//Do a first pass over the image, top to bottom, left to right</span></div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> current_row = 0;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> next_row = labels-&gt;width;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> rowIdx = 0; rowIdx &lt; labels-&gt;height - 1; ++rowIdx, current_row = next_row, next_row += labels-&gt;width)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> colIdx = 0; colIdx &lt; labels-&gt;width - 1; ++colIdx)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keywordtype">int</span> current_label = (*labels)[current_row+colIdx].label;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      <span class="keywordtype">int</span> right_label = (*labels)[current_row+colIdx+1].label;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="keywordflow">if</span> (current_label &lt; 0 || right_label &lt; 0)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="comment">//Check right</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      <span class="comment">//bool test1 = false;</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;compare (current_row+colIdx, current_row+colIdx+1))</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        <span class="comment">//test1 = true;</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        labels-&gt;points[current_row+colIdx+1].label = current_label;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        label_indices[current_label].indices.push_back (current_row+colIdx+1);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;        inlier_indices[label_to_model[current_label]].indices.push_back (current_row+colIdx+1);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;      }</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;      <span class="keywordtype">int</span> lower_label = (*labels)[next_row+colIdx].label;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordflow">if</span> (lower_label &lt; 0)</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="comment">//Check down</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;compare (current_row+colIdx, next_row+colIdx))</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      {</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        labels-&gt;points[next_row+colIdx].label = current_label;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        label_indices[current_label].indices.push_back (next_row+colIdx);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        inlier_indices[label_to_model[current_label]].indices.push_back (next_row+colIdx);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      }</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    }<span class="comment">//col</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  }<span class="comment">//row</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="comment">//Do a second pass over the image</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  current_row = labels-&gt;width * (labels-&gt;height - 1);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> prev_row = current_row - labels-&gt;width;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> rowIdx = 0; rowIdx &lt; labels-&gt;height - 1; ++rowIdx, current_row = prev_row, prev_row -= labels-&gt;width)</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  {</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> colIdx = labels-&gt;width - 1; colIdx &gt;= 0; --colIdx)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      <span class="keywordtype">int</span> current_label = (*labels)[current_row+colIdx].label;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      <span class="keywordtype">int</span> left_label    = (*labels)[current_row+colIdx-1].label;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      <span class="keywordflow">if</span> (current_label &lt; 0 || left_label &lt; 0)</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="comment">//Check left</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;compare (current_row+colIdx, current_row+colIdx-1))</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        labels-&gt;points[current_row+colIdx-1].label = current_label;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        label_indices[current_label].indices.push_back (current_row+colIdx-1);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        inlier_indices[label_to_model[current_label]].indices.push_back (current_row+colIdx-1);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      }</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;      </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keywordtype">int</span> upper_label    = (*labels)[prev_row+colIdx].label;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <span class="keywordflow">if</span> (upper_label &lt; 0)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      <span class="comment">//Check up</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a>-&gt;compare (current_row+colIdx, prev_row+colIdx))</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      {</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;        labels-&gt;points[prev_row+colIdx].label = current_label;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;        label_indices[current_label].indices.push_back (prev_row+colIdx);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        inlier_indices[label_to_model[current_label]].indices.push_back (prev_row+colIdx);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    }<span class="comment">//col</span></div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  }<span class="comment">//row</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_adc35ef057f74baf0dea376401931f197"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">pcl::OrganizedMultiPlaneSegmentation::refinement_compare_</a></div><div class="ttdeci">PlaneRefinementComparatorPtr refinement_compare_</div><div class="ttdoc">A comparator for use on the refinement step. Compares points to regions segmented in the first pass.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:308</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
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<a id="af4ba3bc1aff18759b631350de5fc55bf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4ba3bc1aff18759b631350de5fc55bf">&#9670;&nbsp;</a></span>segment() <span class="overload">[1/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::segment </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>inlier_indices</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Segmentation of all planes in a point cloud given by <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">setInputCloud()</a>, <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">model_coefficients</td><td>a vector of model_coefficients for each plane found in the input cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">inlier_indices</td><td>a vector of inliers for each detected plane </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Label&gt;</a> labels;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  std::vector&lt;pcl::PointIndices&gt; label_indices;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; centroids;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  std::vector &lt;Eigen::Matrix3f, Eigen::aligned_allocator&lt;Eigen::Matrix3f&gt; &gt; covariances;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (model_coefficients, inlier_indices, centroids, covariances, labels, label_indices);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a16b5328d0e926c89b40443e721cbd84e"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">pcl::OrganizedMultiPlaneSegmentation::segment</a></div><div class="ttdeci">void segment(std::vector&lt; ModelCoefficients &gt; &amp;model_coefficients, std::vector&lt; PointIndices &gt; &amp;inlier_indices, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;centroids, std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;covariances, pcl::PointCloud&lt; PointLT &gt; &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices)</div><div class="ttdoc">Segmentation of all planes in a point cloud given by setInputCloud(), setIndices()</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.hpp:84</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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<a id="a16b5328d0e926c89b40443e721cbd84e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a16b5328d0e926c89b40443e721cbd84e">&#9670;&nbsp;</a></span>segment() <span class="overload">[2/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::segment </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>inlier_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>centroids</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>covariances</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointLT &gt; &amp;&#160;</td>
          <td class="paramname"><em>labels</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>label_indices</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Segmentation of all planes in a point cloud given by <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">setInputCloud()</a>, <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">model_coefficients</td><td>a vector of model_coefficients for each plane found in the input cloud </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">inlier_indices</td><td>a vector of inliers for each detected plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">centroids</td><td>a vector of centroids for each plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">covariances</td><td>a vector of covariance matricies for the inliers of each plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">labels</td><td>a point cloud for the connected component labels of each pixel </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">label_indices</td><td>a vector of <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> for each labeled component </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;{</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">initCompute</a> ())</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">// Check that we got the same number of points and normals</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a>-&gt;points.size ()) != <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ()))</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::segment] Number of points in input cloud (%lu) and normal cloud (%lu) do not match!\n&quot;</span>,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;               <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">getClassName</a> ().c_str (), <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size (),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;               <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// Check that the cloud is organized</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;isOrganized ())</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::segment] Organized point cloud is required for this plane extraction method!\n&quot;</span>,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;               <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">// Calculate range part of planes&#39; hessian normal form</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  std::vector&lt;float&gt; plane_d (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points.size ());</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;size (); ++i)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    plane_d[i] = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[i].getVector3fMap ().dot (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a>-&gt;points[i].getNormalVector3fMap ());</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="comment">// Make a comparator</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">//PlaneCoefficientComparator&lt;PointT,PointNT&gt; plane_comparator (plane_d);</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>-&gt;setPlaneCoeffD (plane_d);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>-&gt;setInputCloud (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>-&gt;setInputNormals (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>-&gt;setAngularThreshold (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a>));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>-&gt;setDistanceThreshold (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a>), <span class="keyword">true</span>);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">// Set up the output</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  OrganizedConnectedComponentSegmentation&lt;PointT,PointLT&gt; connected_component (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a>);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  connected_component.setInputCloud (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  connected_component.segment (labels, label_indices);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  Eigen::Vector4f clust_centroid = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  Eigen::Vector4f vp = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  Eigen::Matrix3f clust_cov;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> model;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  model.values.resize (4);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="comment">// Fit Planes to each cluster</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; label_indices.size (); i++)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keywordflow">if</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (label_indices[i].indices.size ()) &gt; <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a>)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a> (*<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>, label_indices[i].indices, clust_cov, clust_centroid);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      Eigen::Vector4f plane_params;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      EIGEN_ALIGN16 Eigen::Vector3f::Scalar eigen_value;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      EIGEN_ALIGN16 Eigen::Vector3f eigen_vector;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a> (clust_cov, eigen_value, eigen_vector);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      plane_params[0] = eigen_vector[0];</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      plane_params[1] = eigen_vector[1];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      plane_params[2] = eigen_vector[2];</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      plane_params[3] = 0;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      plane_params[3] = -1 * plane_params.dot (clust_centroid);</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      vp -= clust_centroid;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordtype">float</span> cos_theta = vp.dot (plane_params);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">if</span> (cos_theta &lt; 0)</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        plane_params *= -1;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        plane_params[3] = 0;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        plane_params[3] = -1 * plane_params.dot (clust_centroid);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="comment">// Compute the curvature surface change</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">float</span> curvature;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <span class="keywordtype">float</span> eig_sum = clust_cov.coeff (0) + clust_cov.coeff (4) + clust_cov.coeff (8);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keywordflow">if</span> (eig_sum != 0)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        curvature = fabsf (eigen_value / eig_sum);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        curvature = 0;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keywordflow">if</span> (curvature &lt; <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a>)</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      {</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        model.values[0] = plane_params[0];</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        model.values[1] = plane_params[1];</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        model.values[2] = plane_params[2];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        model.values[3] = plane_params[3];</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        model_coefficients.push_back (model);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        inlier_indices.push_back (label_indices[i]);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        centroids.push_back (clust_centroid);</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        covariances.push_back (clust_cov);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      }</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <a class="code" href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">deinitCompute</a> ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a3724acaf0d83d69d2ee892a7790ad46e"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">pcl::OrganizedMultiPlaneSegmentation::compare_</a></div><div class="ttdeci">PlaneComparatorPtr compare_</div><div class="ttdoc">A comparator for comparing neighboring pixels' plane equations.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:305</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a3a082745b8730e3a50a8306db96eecb4"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">pcl::OrganizedMultiPlaneSegmentation::distance_threshold_</a></div><div class="ttdeci">double distance_threshold_</div><div class="ttdoc">The tolerance in meters for difference in perpendicular distance (d component of plane equation) to t...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a6a17490643b86da3aea1566b1e1ae8bf"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">pcl::OrganizedMultiPlaneSegmentation::min_inliers_</a></div><div class="ttdeci">unsigned min_inliers_</div><div class="ttdoc">The minimum number of inliers required for each plane.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a84bf457bd25dd8f0e8f0da15a309805d"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">pcl::OrganizedMultiPlaneSegmentation::maximum_curvature_</a></div><div class="ttdeci">double maximum_curvature_</div><div class="ttdoc">The tolerance for maximum curvature after fitting a plane. Used to remove smooth, but non-planar regi...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_aa1899480dc8c418f9460a2caa54b68dc"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#aa1899480dc8c418f9460a2caa54b68dc">pcl::OrganizedMultiPlaneSegmentation::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdoc">Class getName method.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:312</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ac12f715d79b15d2823b115cb1c2a0a14"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">pcl::OrganizedMultiPlaneSegmentation::angular_threshold_</a></div><div class="ttdeci">double angular_threshold_</div><div class="ttdoc">The tolerance in radians for difference in normal direction between neighboring points,...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:293</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_ad956ae30406e396f07238aeac5fa8bd1"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">pcl::OrganizedMultiPlaneSegmentation::normals_</a></div><div class="ttdeci">PointCloudNConstPtr normals_</div><div class="ttdoc">A pointer to the input normals</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:287</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_acceb20854934f4cf77e266eb5a44d4f0"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#acceb20854934f4cf77e266eb5a44d4f0">pcl::PCLBase::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:139</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_afc426c4eebb94b7734d4fa556bff1420"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#afc426c4eebb94b7734d4fa556bff1420">pcl::PCLBase::deinitCompute</a></div><div class="ttdeci">bool deinitCompute()</div><div class="ttdoc">This method should get called after finishing the actual computation.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:174</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_gaca873868052e7d26efcf4b684a17bef2"><div class="ttname"><a href="group__common.html#gaca873868052e7d26efcf4b684a17bef2">pcl::eigen33</a></div><div class="ttdeci">void eigen33(const Matrix &amp;mat, typename Matrix::Scalar &amp;eigenvalue, Vector &amp;eigenvector)</div><div class="ttdoc">determines the eigenvector and eigenvalue of the smallest eigenvalue of the symmetric positive semi d...</div><div class="ttdef"><b>Definition:</b> eigen.hpp:251</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a10de34688cdbfdd3ef5bc11ffdd88799">&#9670;&nbsp;</a></span>segment() <span class="overload">[3/3]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::segment </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>regions</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Segmentation of all planes in a point cloud given by <a class="el" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea" title="Provide a pointer to the input dataset">setInputCloud()</a>, <a class="el" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1" title="Provide a pointer to the vector of indices that represents the input data.">setIndices()</a> </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">regions</td><td>a list of resultant planar polygonal regions </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;{</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  std::vector&lt;ModelCoefficients&gt; model_coefficients;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  std::vector&lt;PointIndices&gt; inlier_indices;  </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  PointCloudLPtr labels (<span class="keyword">new</span> PointCloudL);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  std::vector&lt;pcl::PointIndices&gt; label_indices;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  std::vector&lt;pcl::PointIndices&gt; boundary_indices;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> boundary_cloud;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; centroids;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  std::vector &lt;Eigen::Matrix3f, Eigen::aligned_allocator&lt;Eigen::Matrix3f&gt; &gt; covariances;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (model_coefficients, inlier_indices, centroids, covariances, *labels, label_indices);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  regions.resize (model_coefficients.size ());</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  boundary_indices.resize (model_coefficients.size ());</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; model_coefficients.size (); i++)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  {</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (0);</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    <a class="code" href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">pcl::OrganizedConnectedComponentSegmentation&lt;PointT,PointLT&gt;::findLabeledRegionBoundary</a> (inlier_indices[i].indices[0], labels, boundary_indices[i]);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (boundary_indices[i].indices.size ());</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> j = 0; j &lt; boundary_indices[i].indices.size (); j++)</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[boundary_indices[i].indices[j]];</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    Eigen::Vector3f centroid = Eigen::Vector3f (centroids[i][0],centroids[i][1],centroids[i][2]);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    Eigen::Vector4f model = Eigen::Vector4f (model_coefficients[i].values[0],</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                             model_coefficients[i].values[1],</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                                             model_coefficients[i].values[2],</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                                             model_coefficients[i].values[3]);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    regions[i] = PlanarRegion&lt;PointT&gt; (centroid,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                                       covariances[i], </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (inlier_indices[i].indices.size ()),</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                                       boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                       model);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_organized_connected_component_segmentation_html_a0263cb303cf22c046ae3984746eeae20"><div class="ttname"><a href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">pcl::OrganizedConnectedComponentSegmentation::findLabeledRegionBoundary</a></div><div class="ttdeci">static void findLabeledRegionBoundary(int start_idx, PointCloudLPtr labels, pcl::PointIndices &amp;boundary_indices)</div><div class="ttdoc">Find the boundary points / contour of a connected component</div><div class="ttdef"><b>Definition:</b> organized_connected_component_segmentation.hpp:53</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6a2afe5e8013291f537c85250765c5d5">&#9670;&nbsp;</a></span>segmentAndRefine() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::segmentAndRefine </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>regions</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Perform a segmentation, as well as an additional refinement step. This helps with including points whose normals may not match neighboring points well, but may match the planar model well. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">regions</td><td>A list of regions generated by segmentation and refinement. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;{</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  std::vector&lt;ModelCoefficients&gt; model_coefficients;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  std::vector&lt;PointIndices&gt; inlier_indices;  </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  PointCloudLPtr labels (<span class="keyword">new</span> PointCloudL);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  std::vector&lt;pcl::PointIndices&gt; label_indices;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  std::vector&lt;pcl::PointIndices&gt; boundary_indices;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> boundary_cloud;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; centroids;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  std::vector &lt;Eigen::Matrix3f, Eigen::aligned_allocator&lt;Eigen::Matrix3f&gt; &gt; covariances;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (model_coefficients, inlier_indices, centroids, covariances, *labels, label_indices);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">refine</a> (model_coefficients, inlier_indices, centroids, covariances, labels, label_indices);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  regions.resize (model_coefficients.size ());</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  boundary_indices.resize (model_coefficients.size ());</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; model_coefficients.size (); i++)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  {</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (0);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">int</span> max_inlier_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (inlier_indices[i].indices.size ()) - 1;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <a class="code" href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">pcl::OrganizedConnectedComponentSegmentation&lt;PointT,PointLT&gt;::findLabeledRegionBoundary</a> (inlier_indices[i].indices[max_inlier_idx], labels, boundary_indices[i]);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (boundary_indices[i].indices.size ());</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> j = 0; j &lt; boundary_indices[i].indices.size (); j++)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[boundary_indices[i].indices[j]];</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    Eigen::Vector3f centroid = Eigen::Vector3f (centroids[i][0],centroids[i][1],centroids[i][2]);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    Eigen::Vector4f model = Eigen::Vector4f (model_coefficients[i].values[0],</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                                             model_coefficients[i].values[1],</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                                             model_coefficients[i].values[2],</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                                             model_coefficients[i].values[3]);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    Eigen::Vector3f vp (0.0, 0.0, 0.0);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a>)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      boundary_cloud = projectToPlaneFromViewpoint (boundary_cloud, model, centroid, vp);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    regions[i] = PlanarRegion&lt;PointT&gt; (centroid,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                                       covariances[i], </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (inlier_indices[i].indices.size ()),</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                                       boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>,</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;                                       model);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;}</div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a33b84e36d897a37740afda24c1a500df"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">pcl::OrganizedMultiPlaneSegmentation::project_points_</a></div><div class="ttdeci">bool project_points_</div><div class="ttdoc">Whether or not points should be projected to the plane, or left in the original 3D space.</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.h:302</div></div>
<div class="ttc" id="aclasspcl_1_1_organized_multi_plane_segmentation_html_a4be78086232524c475818142a29153e8"><div class="ttname"><a href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">pcl::OrganizedMultiPlaneSegmentation::refine</a></div><div class="ttdeci">void refine(std::vector&lt; ModelCoefficients &gt; &amp;model_coefficients, std::vector&lt; PointIndices &gt; &amp;inlier_indices, std::vector&lt; Eigen::Vector4f, Eigen::aligned_allocator&lt; Eigen::Vector4f &gt; &gt; &amp;centroids, std::vector&lt; Eigen::Matrix3f, Eigen::aligned_allocator&lt; Eigen::Matrix3f &gt; &gt; &amp;covariances, PointCloudLPtr &amp;labels, std::vector&lt; pcl::PointIndices &gt; &amp;label_indices)</div><div class="ttdoc">Perform a refinement of an initial segmentation, by comparing points to adjacent regions detected by ...</div><div class="ttdef"><b>Definition:</b> organized_multi_plane_segmentation.hpp:313</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a227ef62fa024fb8f3eb85a530404a578">&#9670;&nbsp;</a></span>segmentAndRefine() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::segmentAndRefine </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;, Eigen::aligned_allocator&lt; <a class="el" href="classpcl_1_1_planar_region.html">PlanarRegion</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>regions</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_model_coefficients.html">ModelCoefficients</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>model_coefficients</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>inlier_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">PointCloudLPtr &amp;&#160;</td>
          <td class="paramname"><em>labels</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>label_indices</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; <a class="el" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>boundary_indices</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Perform a segmentation, as well as additional refinement step. Returns intermediate data structures for use in subsequent processing. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">regions</td><td>A vector of PlanarRegions generated by segmentation </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">model_coefficients</td><td>A vector of model coefficients for each segmented plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">inlier_indices</td><td>A vector of <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a>, indicating the inliers to each segmented plane </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">labels</td><td>A PointCloud&lt;PointLT&gt; corresponding to the resulting segmentation. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">label_indices</td><td>A vector of <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> for each label </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">boundary_indices</td><td>A vector of <a class="el" href="structpcl_1_1_point_indices.html">PointIndices</a> corresponding to the outer boundary / contour of each label </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;{</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> boundary_cloud;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  std::vector&lt;Eigen::Vector4f, Eigen::aligned_allocator&lt;Eigen::Vector4f&gt; &gt; centroids;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  std::vector &lt;Eigen::Matrix3f, Eigen::aligned_allocator&lt;Eigen::Matrix3f&gt; &gt; covariances;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a16b5328d0e926c89b40443e721cbd84e">segment</a> (model_coefficients, inlier_indices, centroids, covariances, *labels, label_indices);</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a4be78086232524c475818142a29153e8">refine</a> (model_coefficients, inlier_indices, centroids, covariances, labels, label_indices);</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  regions.resize (model_coefficients.size ());</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  boundary_indices.resize (model_coefficients.size ());</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; model_coefficients.size (); i++)</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (0);</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keywordtype">int</span> max_inlier_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (inlier_indices[i].indices.size ()) - 1;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    <a class="code" href="classpcl_1_1_organized_connected_component_segmentation.html#a0263cb303cf22c046ae3984746eeae20">pcl::OrganizedConnectedComponentSegmentation&lt;PointT,PointLT&gt;::findLabeledRegionBoundary</a> (inlier_indices[i].indices[max_inlier_idx], labels, boundary_indices[i]);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (boundary_indices[i].indices.size ());</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> j = 0; j &lt; boundary_indices[i].indices.size (); j++)</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[j] = <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a>-&gt;points[boundary_indices[i].indices[j]];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    Eigen::Vector3f centroid = Eigen::Vector3f (centroids[i][0],centroids[i][1],centroids[i][2]);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    Eigen::Vector4f model = Eigen::Vector4f (model_coefficients[i].values[0],</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                                             model_coefficients[i].values[1],</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                             model_coefficients[i].values[2],</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                                             model_coefficients[i].values[3]);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    Eigen::Vector3f vp (0.0, 0.0, 0.0);</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a> &amp;&amp; boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size () &gt; 0)</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      boundary_cloud = projectToPlaneFromViewpoint (boundary_cloud, model, centroid, vp);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    regions[i] = PlanarRegion&lt;PointT&gt; (centroid,</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                                       covariances[i], </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (inlier_indices[i].indices.size ()),</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                                       boundary_cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>,</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                                       model);</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  }</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;}</div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad68c9c11a4bad2e82e6ca405753984d6">&#9670;&nbsp;</a></span>setAngularThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
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          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setAngularThreshold </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angular_threshold</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set the tolerance in radians for difference in normal direction between neighboring points, to be considered part of the same plane. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">angular_threshold</td><td>the tolerance in radians </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      {</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ac12f715d79b15d2823b115cb1c2a0a14">angular_threshold_</a> = angular_threshold;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a6d49fd9f33accc4abcde89c8bd4dacc0">&#9670;&nbsp;</a></span>setComparator()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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  <td class="mlabels-left">
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          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setComparator </td>
          <td>(</td>
          <td class="paramtype">const PlaneComparatorPtr &amp;&#160;</td>
          <td class="paramname"><em>compare</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Provide a pointer to the comparator to be used for segmentation. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">compare</td><td>A pointer to the comparator to be used for segmentation. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3724acaf0d83d69d2ee892a7790ad46e">compare_</a> = compare;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a24d7215b238456d587914d7aeabcc812">&#9670;&nbsp;</a></span>setDistanceThreshold()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setDistanceThreshold </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>distance_threshold</em></td><td>)</td>
          <td></td>
        </tr>
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<p>Set the tolerance in meters for difference in perpendicular distance (d component of plane equation) to the plane between neighboring points, to be considered part of the same plane. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">distance_threshold</td><td>the tolerance in meters </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a3a082745b8730e3a50a8306db96eecb4">distance_threshold_</a> = distance_threshold;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a11088c6cd55b053e4786fb62224132e2">&#9670;&nbsp;</a></span>setInputNormals()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
<table class="mlabels">
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        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setInputNormals </td>
          <td>(</td>
          <td class="paramtype">const PointCloudNConstPtr &amp;&#160;</td>
          <td class="paramname"><em>normals</em></td><td>)</td>
          <td></td>
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<p>Provide a pointer to the input normals. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">normals</td><td>the input normal cloud </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#ad956ae30406e396f07238aeac5fa8bd1">normals_</a> = normals;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#acf9ab62adc5c4fd94c8c891bf771012a">&#9670;&nbsp;</a></span>setMaximumCurvature()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointT , typename PointNT , typename PointLT &gt; </div>
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      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setMaximumCurvature </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>maximum_curvature</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Set the maximum curvature allowed for a planar region. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">maximum_curvature</td><td>the maximum curvature </td></tr>
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<div class="fragment"><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a84bf457bd25dd8f0e8f0da15a309805d">maximum_curvature_</a> = maximum_curvature;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a986c4ce768c192888e91a39ffde8b4bc">&#9670;&nbsp;</a></span>setMinInliers()</h2>

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          <td class="memname">void <a class="el" href="classpcl_1_1_organized_multi_plane_segmentation.html">pcl::OrganizedMultiPlaneSegmentation</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, PointNT, PointLT &gt;::setMinInliers </td>
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          <td class="paramname"><em>min_inliers</em></td><td>)</td>
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<p>Set the minimum number of inliers required for a plane </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">min_inliers</td><td>the minimum number of inliers required per plane </td></tr>
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<div class="fragment"><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a6a17490643b86da3aea1566b1e1ae8bf">min_inliers_</a> = min_inliers;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#aa6f56d471ace051ee0eb7fe725eb54aa">&#9670;&nbsp;</a></span>setProjectPoints()</h2>

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<p>Set whether or not to project boundary points to the plane, or leave them in the original 3D space. </p>
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    <tr><td class="paramdir">[in]</td><td class="paramname">project_points</td><td>true if points should be projected, false if not. </td></tr>
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<div class="fragment"><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#a33b84e36d897a37740afda24c1a500df">project_points_</a> = project_points;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1759b16bd00368670f67f836366a8936">&#9670;&nbsp;</a></span>setRefinementComparator()</h2>

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          <td class="paramname"><em>compare</em></td><td>)</td>
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<p>Provide a pointer to the comparator to be used for refinement. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">compare</td><td>A pointer to the comparator to be used for refinement. </td></tr>
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<div class="fragment"><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <a class="code" href="classpcl_1_1_organized_multi_plane_segmentation.html#adc35ef057f74baf0dea376401931f197">refinement_compare_</a> = compare;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>segmentation/include/pcl/segmentation/<a class="el" href="organized__multi__plane__segmentation_8h_source.html">organized_multi_plane_segmentation.h</a></li>
<li>segmentation/include/pcl/segmentation/impl/<a class="el" href="organized__multi__plane__segmentation_8hpp_source.html">organized_multi_plane_segmentation.hpp</a></li>
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